They can't interoperate once the protocol version has been decided, but there is a mechanism to negotiate the version at the beginning of the handshake. Essentially, the client advertises the highest version it supports when it starts the handshake and the server returns the highest version it supports that is less or equal to the version supported by the client. Of course, the server can also disable so of these lower versions if it wishes (in which case the connection won't be established).
The TLS specification has this to say about the server_version
in the Server Hello
message:
server_version
This field will contain the lower of that suggested by the client
in the client hello and the highest supported by the server. For
this version of the specification, the version is 3.3. (See
Appendix E for details about backward compatibility.)
Appendix E.1 should also give you further explanations.